CN113675029B - Knife switch operating device - Google Patents
Knife switch operating device Download PDFInfo
- Publication number
- CN113675029B CN113675029B CN202110994255.4A CN202110994255A CN113675029B CN 113675029 B CN113675029 B CN 113675029B CN 202110994255 A CN202110994255 A CN 202110994255A CN 113675029 B CN113675029 B CN 113675029B
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- Prior art keywords
- guide rail
- knife switch
- operating
- piece
- bracket
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H21/00—Switches operated by an operating part in the form of a pivotable member acted upon directly by a solid body, e.g. by a hand
- H01H21/02—Details
- H01H21/18—Movable parts; Contacts mounted thereon
- H01H21/22—Operating parts, e.g. handle
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H21/00—Switches operated by an operating part in the form of a pivotable member acted upon directly by a solid body, e.g. by a hand
- H01H21/02—Details
- H01H21/18—Movable parts; Contacts mounted thereon
- H01H21/36—Driving mechanisms
- H01H21/48—Driving mechanisms incorporating a ratchet mechanism
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- Driving Mechanisms And Operating Circuits Of Arc-Extinguishing High-Tension Switches (AREA)
Abstract
The invention belongs to the technical field of electrical switches, and discloses a disconnecting link operating device. Which comprises an adjusting unit and an operating unit. Specifically, the adjusting unit comprises a movable base and a multi-degree-of-freedom mechanical arm arranged on the base; the operation unit comprises a guide rail and an operation assembly, the guide rail is arranged on the mechanical arm with multiple degrees of freedom, the operation assembly comprises a first support, a first driving piece, a telescopic rod and an operation piece, the first support is arranged on the guide rail in a sliding mode, the telescopic rod is used for connecting the operation piece on the first support, the length of the telescopic rod is adjustable, the operation piece is connected with a knife switch operation mechanism, and the first driving piece is used for driving the first support to slide so that the operation piece can be pulled open or closed. The disconnecting link operating device provided by the invention can adapt to the pulling and closing operations of different disconnecting links by adjusting the operating unit, and has wide application range.
Description
Technical Field
The invention relates to the technical field of electrical switches, in particular to a disconnecting link operating device.
Background
The disconnecting link, also called an isolating switch, is widely used as an electrical switch in production and living.
Because of various types and different sizes, many of the operations are still completed by manual operation in the pulling and closing operation of the knife switch at present. Typical operations are as follows: the operator wears the insulating shoes and the insulating gloves, moves to the side of the disconnecting link, and performs manual opening and closing operation on the disconnecting link.
However, for high current knife switches, such as: the knife switch of the 10KV switch cabinet, the open-type ground knife with the voltage level higher than 110kV and the like are large in size and weight, and the knife switch is manually opened and closed, so that the knife switch is very laborious and low in efficiency. The manual operation is difficult to control the operation force, the condition that the disconnecting link is not in place easily appears, and when the switch-on, the disconnecting link is not in place or the contact resistance of the disconnecting link can be increased by excessively closing, influences circuit steady operation, and generates heat easily. When the disconnecting link is opened, the disconnecting link is too slow or is not opened in place, electric arcs are easy to generate on contacts of the disconnecting link, and when the electric arcs are serious, the disconnecting link is burnt out, so that the safety of operators is threatened.
Disclosure of Invention
The invention aims to provide a disconnecting link operating device which can be used for carrying out opening and closing operations on disconnecting links of different types, is accurate in operation, replaces manual operation, improves operation safety and improves safety production efficiency.
To achieve the purpose, the invention adopts the following technical scheme:
a knife switch operating device comprising:
the adjusting unit comprises a movable base and a multi-degree-of-freedom mechanical arm arranged on the base;
the operation unit comprises a guide rail and an operation assembly, wherein the guide rail is arranged on the mechanical arm with multiple degrees of freedom, the operation assembly comprises a first support, a first driving piece, a telescopic rod and an operation piece, the first support is arranged on the guide rail in a sliding mode, one end of the telescopic rod is arranged on the first support, the other end of the telescopic rod is detachably provided with the operation piece, the length of the telescopic rod is adjustable, the operation piece is configured to be connected with a disconnecting link operation mechanism, and the first driving piece is used for driving the first support to slide so that the operation piece can be pulled open or closed.
Optionally, the guide rail is a circular arc guide rail with an opening facing the operation member, and the angle of the circular arc guide rail is adjustable and arranged on the multi-degree-of-freedom mechanical arm.
Alternatively, on a cross section in the extending direction of the guide rail, one of the first bracket and the guide rail has a T-shaped protrusion in cross section, and the other has a C-shaped groove in cross section, and the T-shaped protrusion is slidably disposed in the C-shaped groove.
Optionally, the operation assembly further comprises a first gear, a plurality of first teeth are arranged on the first gear, a plurality of second teeth are arranged on the guide rail, and a plurality of first teeth are meshed with a plurality of second teeth;
the first driving piece and/or the first gear are/is arranged on the first bracket, and the output end of the first driving piece can drive the first gear to rotate so as to drive the first bracket to slide along the guide rail.
Optionally, the telescopic rod includes a first rod and a second rod, the first rod is disposed on the first bracket, the second rod is slidably disposed on the first rod along a length direction of the first rod, and the operating member is mounted on the second rod.
Optionally, the multi-degree-of-freedom mechanical arm comprises a first rotating arm, a second rotating arm, a telescopic shaft and a second support, the second support is rotationally arranged on the base, the length of the telescopic shaft is adjustable, the fixed end of the telescopic shaft is arranged on the second support, one end of the first rotating arm is rotationally connected with the movable end of the telescopic shaft, the other end of the first rotating arm is rotationally connected with the second rotating arm, and the second rotating arm is connected with the guide rail.
Optionally, the device further comprises a positioning unit, wherein the positioning unit comprises an image acquisition module and an image processing module, the image acquisition module is used for acquiring image information of the disconnecting link operating mechanism, the guide rail and the operating member, and the image processing module is used for judging first relative position information of the guide rail and the disconnecting link operating mechanism according to the image information and judging second relative position information of the guide rail and the operating member.
Optionally, the system further comprises a control unit, wherein the control unit comprises a storage module and a judging module;
the storage module is used for storing the type data of the disconnecting link and storing initial action data and execution data matched with the type data;
the image processing module can identify the type data of the knife switch;
the judging module can call initial action data and execution data matched with the type data from the storage module according to the type data.
Optionally, the judging module is further configured to receive the first relative position information and the second relative position information;
the judging module can send a first instruction according to the first relative position information, the second relative position information and the initial action data so that the guide rail and the operating piece both reach a preset position, and the operating piece is connected to the disconnecting link operating mechanism;
the judging module can also send a second instruction to the first driving piece to drive the first bracket to slide so as to open or close the knife switch operating mechanism.
Optionally, the remote control unit further comprises a signal receiver and a remote controller which are in communication connection, wherein the signal receiver is electrically connected with the control unit, and can remotely receive the operation instruction of the remote controller and transmit the operation instruction to the control unit.
The beneficial effects are that:
according to the disconnecting link operating device provided by the invention, firstly, aiming at the type of a disconnecting link, the telescopic rod and the first driving piece are adjusted, so that the guide rail and the operating piece are reset initially; then, the guide rail is moved to the side of the disconnecting link by adjusting the movable base and the multi-degree-of-freedom mechanical arm, and the operating piece is connected to the disconnecting link operating mechanism; and secondly, the first driving piece drives the first bracket to slide along the guide rail, so that the operating piece is driven to open or close the disconnecting link operating mechanism, and the disconnecting link is pulled and closed. The disconnecting link operating device provided by the invention can adapt to the pulling and closing of disconnecting links of different types by adjusting the operating unit, and is wide in application. The first driving piece drives the operation piece to operate the knife switch operation mechanism, so that the force and the speed of the operation piece acting on the knife switch operation mechanism can be stably controlled, and the pulling range of the knife switch can be accurately controlled, so that the knife switch is accurately pulled, and potential safety hazards caused by too slow pulling or not in place pulling of the knife switch are avoided. In addition, the disconnecting link operating device provided by the invention replaces manual operation, and ensures personal safety.
Drawings
FIG. 1 is a schematic view of a knife switch operating device according to an embodiment of the present invention;
FIG. 2 is a side view of the guide rail of FIG. 1;
FIG. 3 is a cross-sectional view of the rail of FIG. 2 along an extension direction;
fig. 4 is a cross-sectional view of the operating assembly of fig. 1 along the extension of the guide rail.
In the figure:
1. an adjusting unit; 11. a base; 111. a universal wheel; 12. a multi-degree-of-freedom mechanical arm; 121. a first rotating arm; 122. a second rotating arm; 123. a telescopic shaft; 1231. a first shaft; 1232. a second shaft; 124. a second bracket; 125. a first driver; 126. a second driver;
2. an operation unit; 21. a guide rail; 211. a second tooth; 22. an operating assembly; 221. a first bracket; 2211. a roller; 2212. a first gear; 222. an operating member; 223. a telescopic rod; 2231. a first lever; 2232. a second rod.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.
Example 1
The present embodiment provides a disconnecting link operating device that can be applied to the operation of a plurality of types of disconnecting links. In an electrical power system, a knife switch is used to isolate the power supply and disconnect the high voltage service equipment from the live equipment, leaving a clearly visible disconnection point therebetween. And secondly, the disconnecting link is matched with the circuit breaker, and switching operation is carried out according to the requirement of the system operation mode so as to change the system operation wiring mode. Or to turn on or off a low current circuit. The disconnecting link operating device provided by the embodiment replaces manual operation to accurately operate the disconnecting link in a dangerous environment, so that the service life of the disconnecting link is prolonged, and the personal safety is guaranteed. Specifically, the disconnecting link operating device provided in the present embodiment includes an adjusting unit 1, an operating unit 2, a positioning unit, and a control unit.
As shown in fig. 1, the adjusting unit 1 includes a movable base 11 and a multi-degree-of-freedom mechanical arm 12 disposed on the base 11; the multi-degree-of-freedom mechanical arm 12 is arranged on the base 11, and is driven by the base 11 to move in the horizontal direction. The operation unit 2 comprises a guide rail 21 and an operation assembly 22, the guide rail 21 is arranged on the multi-degree-of-freedom mechanical arm 12, and the angle and the position of the guide rail 21 can be adjusted through the movement of the base 11 and the movement of the multi-degree-of-freedom mechanical arm 12, so that the guide rail 21 and a knife switch operation mechanism on a knife switch can keep proper position and angle relation, and the operation assembly 22 can further operate the knife switch operation mechanism conveniently. The operating assembly 22 is slidably disposed on the guide rail 21 to operate the operating mechanism of the knife switch for opening and closing.
Optionally, the operating assembly 22 includes a first bracket 221, a first driving member, a telescopic rod 223, and an operating member 222. The first bracket 221 is slidably disposed on the guide rail 21 along the extending direction of the guide rail 21, one end of the telescopic rod 223 is mounted on the first bracket 221, and the other end of the telescopic rod is detachably mounted with the operating member 222, and the operating member 222 can be connected with different types of knife switch operating mechanisms by replacing different operating members 222 so as to draw and close the knife switch by operating the knife switch operating mechanisms. The first driving member is used for driving the first bracket 221 to enable the first bracket 221 to slide along the guide rail 21, so that the first bracket 221 can drive the operating member 222 through the telescopic rod 223 to enable the operating member 222 to move along the direction parallel to the guide rail 21, and further the knife switch operating mechanism is operated to open or close the knife switch. The length of the telescopic rod 223 is adjustable to adjust the distance between the operating member 222 and the first bracket 221, so that the distance between the operating member 222 and the guide rail 21 is adjusted, and the movement track of the operating member 222 can be kept parallel to the extending direction of the guide rail 21 in the disconnecting link pulling and closing process, so that movement clamping does not occur.
The structure of the operation member 222 is not limited. In one embodiment, the operating member 222 may be a jaw that grips a handle portion of the switch operating mechanism to pull and close the switch operating mechanism. In another embodiment, the operating member 222 may be a cylindrical protrusion, and the cylindrical protrusion is inserted into an operating hole on the switch operating mechanism and drives the switch operating mechanism to pull the switch.
In this embodiment, the multi-degree-of-freedom mechanical arm 12 is a three-degree-of-freedom mechanical arm, that is, the multi-degree-of-freedom mechanical arm 12 can control the operation unit 2 to translate along the z axis, rotate around the y axis, and rotate around the z axis, but cannot control the operation unit 2 to translate along the x axis, translate along the y axis, and rotate around the x axis. At the same time, the base 11 is movable in the horizontal direction, thereby controlling the translation of the operation unit 2 along the x-axis and along the y-axis. The base 11 and the multi-degree-of-freedom mechanical arm 12 are combined to form a five-degree-of-freedom knife switch operating device, so that the position and the angle of the operating unit 2 can be conveniently adjusted.
Alternatively, as shown in fig. 1, the multiple degree of freedom mechanical arm 12 includes a first rotating arm 121, a second rotating arm 122, a telescopic shaft 123, and a second bracket 124. The second bracket 124 is rotatably provided on the base 11 to control the operation unit 2 to rotate about the z-axis. The length of the telescopic shaft 123 is adjustable to control the translation of the operating unit 2 along the z-axis. The fixed end of the telescopic shaft 123 is disposed on the second bracket 124, and one end of the first rotating arm 121 is rotatably connected to the movable end of the telescopic shaft 123, so as to control the operation unit 2 to rotate around the y-axis. The other end of the first rotary arm 121 is rotatably connected with a second rotary arm 122, the second rotary arm 122 is connected with the guide rail 21, and the second rotary arm 122 further controls the rotation angle of the operation unit 2 around the y-axis direction.
The structure of the telescopic shaft 123 is not limited. In this embodiment, as shown in fig. 1, the telescopic shaft 123 includes a first shaft 1231 and a second shaft 1232, the first shaft 1231 is fixed above the second bracket 124, the second shaft 1232 is slidably disposed on the first shaft 1231 along the height direction, and the first rotating arm 121 is rotatably disposed on the second shaft 1232. Optionally, the relative motion of the second shaft 1232 on the first shaft 1231 is driven by an electro-hydraulic cylinder, and the telescopic shaft 123 is driven by the electro-hydraulic cylinder, so that a longer stroke of the telescopic shaft 123 can be realized, and the telescopic shaft 123 is retracted to have a shorter length, so that the multi-degree-of-freedom mechanical arm 12 is compact in structure, and the stroke of the multi-degree-of-freedom mechanical arm 12 in the height direction is improved. Meanwhile, the electric hydraulic cylinder has large thrust and accurate control, and is convenient for accurately adjusting the heights of the multi-degree-of-freedom mechanical arm 12 and the operation unit 2. In other embodiments, the driving manner of the telescopic shaft 123 may be selected according to practical situations, which is not limited herein.
The structure of the second bracket 124 is not limited. Illustratively, the second support 124 includes a bottom plate and a rotating frame, the rotating frame is rotatably connected to the bottom plate, the bottom plate is fixedly connected above the base 11 by bolts and nuts, and is assembled and connected by bolts and nuts, so that the connection is reliable, the installation is convenient, the second support 124 is convenient to detach from the base 11, the multiple degree of freedom mechanical arm 12 is convenient to repair and transport, and the multiple degree of freedom mechanical arm 12 is convenient to detach.
The rotational connection manner of the first rotation arm 121 on the telescopic shaft 123 and the rotational connection manner of the second rotation arm 122 on the first rotation arm 121 are not limited. In one embodiment, the first rotating arm 121 is connected to the telescopic shaft 123 by a fastener, and the second rotating arm 122 is connected to the first rotating arm 121 by a fastener. Specifically, the fasteners, such as bolts and nuts, are connected by bolts and nuts, and the multi-degree-of-freedom mechanical arm 12 is simple and convenient to install, long in service life and low in cost. In another embodiment, the first rotating arm 121 is connected to the end of the telescopic shaft 123 through a planetary gear, the second rotating arm 122 is connected to the first rotating arm 121 through a planetary gear, the bearing capacity of the planetary gear is high, the transmission is stable, and the operation precision and stability of the device are improved. In yet another embodiment, the first rotating arm 121 is rotationally connected to the telescopic shaft 123 through a harmonic reducer, the second rotating arm 122 is rotationally connected to the first rotating arm 121 through a harmonic reducer, and when the angle and the position of the operation unit 2 are adjusted, the multiple degree of freedom mechanical arm 12 needs to be continuously rotated and moved, so that each connection of the multiple degree of freedom mechanical arm 12 is often accompanied by acceleration, deceleration and direction-changing actions, while the harmonic reducer has a larger transmission speed ratio, and can satisfy the rapid adjustment of each joint of the multiple degree of freedom mechanical arm 12, thereby improving the adjustment precision and efficiency. In other embodiments, the rotational connection modes used in the above embodiments may be used comprehensively, and effective connection at each joint on the multi-degree of freedom mechanical arm 12 may be achieved as well.
Optionally, a first driver 125 is disposed at a rotational connection position between the first rotating arm 121 and the second shaft 1232, a second driver 126 is disposed at a rotational connection position between the first rotating arm 121 and the second rotating arm 122, the first driver 125 and the second driver 126 are respectively electrically connected to the control unit, the first driver 125 is used for driving the first rotating arm 121 to rotate relative to the second shaft 1232, and the second driver 126 is used for driving the second rotating arm 122 to rotate relative to the first rotating arm 121. In this embodiment, the first driver 125 and the second driver 126 are stepper motors, which can change the rotation angle and speed frequently, so as to facilitate accurate adjustment of the angle and position of the operation unit 2, and after the position of the operation unit 2 is determined, the stepper motors stop running, and therefore, no more power is consumed, and the power consumption and equipment loss are reduced, and the service life is long. In other embodiments, the driving manners of the first driver 125 and the second driver 126 may be selected according to practical situations, which is not limited herein.
In this embodiment, the base 11 is provided with a universal wheel 111 and a third driver, and the third driver is electrically connected to the control unit, and the third driver is used for driving the universal wheel 111 to rotate so as to adjust the position of the base 11 in the horizontal direction. Specifically, four orientable universal wheels 111 are respectively arranged below four corners of the rectangular base 11, the third driver is a direct current motor, and the direct current motor drives the orientable universal wheels 111 to turn and move through a transmission mechanism so as to adjust the position and the angle of the operation unit 2. Optionally, a secondary battery is also provided in the base 11 to power the knife switch operating device so that it can be operated remotely from the power station base.
Preferably, the multi-degree of freedom mechanical arm 12 is connected with the guide rail 21 in an insulating manner. In one embodiment, the second rotating arm 122 is a steel mechanical arm to ensure the bearing strength, and the outer side of the second rotating arm 122 is covered with high-voltage insulating materials, such as rubber, ceramic, etc., so as to prevent the current on the knife switch from being conducted to the ground through the multi-degree-of-freedom mechanical arm 12 during an accident, thereby injuring equipment and personnel. In another embodiment, the first rotating arm 121 and the second rotating arm 122 are made of insulating materials, such as carbon fiber, which is light in weight and high in strength. The conduction between the multi-degree-of-freedom mechanical arm 12 and the electrified disconnecting link is effectively avoided, and the operating unit 2 is supported by the mechanical arm with enough structural strength.
The positioning unit comprises an image acquisition module and an image processing module, wherein the image acquisition module is used for acquiring image information of the knife switch operating mechanism, the guide rail 21 and the operating piece 222 so as to determine the positions and the angles of the components. The image processing module is used for judging first relative position information between the guide rail 21 and the disconnecting link operating mechanism according to the image information of the guide rail 21 and the disconnecting link operating mechanism so as to adjust the guide rail 21 to move to a first preset position relative to the disconnecting link operating mechanism. The image processing module is further configured to determine second relative position information between the guide rail 21 and the operating member 222 according to the image information of the operating member 222 and the guide rail 21, so as to adjust the operating member 222 to move to a second preset position relative to the guide rail 21.
The first preset position is that a proper spatial relationship is kept between the guide rail 21 and the knife switch operating mechanism, so that a motion track of the knife switch operating mechanism in the pulling and closing process is parallel to the extending direction of the guide rail 21. The second preset position is that a proper spatial relationship is maintained between the operating member 222 and the guide rail 21, so that the operating member 222 is located at a preparation position before the disconnecting link operating mechanism is opened or closed, and the operating member 222 is connected with the disconnecting link operating mechanism. When the first preset position and the second preset position are reached, the operation member 222 is connected to the switch operating mechanism, and the movement track of the connection between the operation member 222 and the switch operating mechanism is parallel to the extending direction of the guide rail 21 during the pulling and closing process of the switch. Alternatively, the image acquisition module is a laser scanning imager, which is disposed on the second rotating arm 122, is powered by a secondary battery on the base 11, and is in communication connection with the control unit.
Optionally, the control unit includes a storage module and a judging module, where the storage module is used to store type data of the knife switch, and store initial action data and execution data matched with the type data. The image processing module can identify the type data of the knife switch. The judging module can call initial action data and execution data matched with the type data from the storage module according to the type data of the disconnecting link. The initial motion data is motion data for realizing a first preset position and a second preset position, and different types of knife switches are suitable for different initial motion data.
Illustratively, the initial action data includes: the movement data of the guide rail 21 to the first preset position with respect to the knife switch operating mechanism and the movement data of the operating member 222 to the second preset position with respect to the guide rail 21. After the execution of the initial motion data is completed, the operation piece 222 is connected to the switch operating mechanism, and the motion track of the operation piece 222 connected to the switch operating mechanism in the pulling-in process of the switch operating mechanism is parallel to the extending direction of the guide rail 21. The execution data refers to the action data of the control operation member 222 to open or close the knife switch operation mechanism, and different types of knife switches are suitable for different execution data. In the present embodiment, the execution data includes the sliding speed and the sliding range of the first bracket 221 on the guide rail 21. The pulling-in speed and the pulling-in range of the disconnecting link operating mechanism are adjusted, so that the pulling-in speed and the pulling-in range of the disconnecting link can be accurately controlled, the situation that the disconnecting link operating mechanism is too slow to pull in or cannot pull in place to generate heat is avoided, the disconnecting link is even burnt, and the service life of the disconnecting link is prolonged. The execution data further comprises driving forces of the first driving members, and the different knife switches correspond to the driving forces of the different first driving members so as to be capable of driving the different knife switches to be pulled and closed. In the pulling and closing process, the first bracket 221 can move at a uniform speed by controlling the driving force, so that the stability of the pulling and closing process of the knife switch is improved.
Optionally, the determining module is further configured to receive the first relative position information and the second relative position information. The judging module can send a first instruction according to the first relative position information, the second relative position information and the initial action data to enable the guide rail 21 and the operating piece 222 to respectively reach a first preset position and a second preset position, so that the operating piece 222 is fixed on the knife switch operating mechanism, and the knife switch is ready to be opened or closed. The judging module can also send a second instruction to the first driving piece to drive the first bracket 221 to slide, so that the first bracket 221 drives the operating piece 222 to open or close the knife switch through the telescopic rod 223. The relative positioning of the guide rail 21, the operation piece 222 and the knife switch operation mechanism and the pulling and closing process of the knife switch operation mechanism are controlled by instructions sent by the judging module, so that the control is accurate, the operation is simple, the situation that the pulling and closing are too slow or the pulling and closing are not in place due to manual operation is avoided, and the service life of the knife switch is prolonged.
Preferably, as shown in fig. 1, the guide rail 21 is a circular arc guide rail opened toward the operation member 222, and the circular arc guide rail is provided on the multiple degree of freedom mechanical arm 12 with an adjustable angle. Although the sizes and structures of the different types of knife switches are different, the movement track of the knife switch operating mechanism of each knife switch in the pulling and closing process is a part of a circle, namely an arc. Therefore, the guide rail 21 is designed as a circular arc guide rail, the operating member 222 is located in the opening direction of the circular arc guide rail, the rotation radius of the operating member 222 can be adjusted by adjusting the distance between the operating member 222 and the circular arc guide rail, so that the rotation radius of the operating end of the operating member 222 is the same as that of the knife switch operating mechanism, the knife switch operating mechanisms with different rotation radii can be pulled open or closed by the sliding of the first bracket 221 on the circular arc guide rail, and the first bracket 221 cannot be blocked with the circular arc guide rail in the moving process of the operating member 222. The arc-shaped guide rail is angularly adjustably disposed on the multi-degree of freedom mechanical arm 12, and is illustratively rotatably connected to the second rotating arm 122. When the second rotating arm 122 is horizontal, the arc-shaped guide rail can rotate around the x-axis direction, and the device can realize the adjustment of the arc-shaped guide rail in the six-degree-of-freedom direction by combining the five degrees of freedom realized by the base 11 and the multi-degree-of-freedom mechanical arm 12, so that the direction of the movement of the arc-shaped guide rail relative to the disconnecting link operating mechanism can be adjusted, the extending direction of the arc-shaped guide rail is parallel to the movement track in the pulling and closing process of the disconnecting link operating mechanism, and the rotation track of the operating end of the operating member 222 coincides with the rotation track of the disconnecting link operating mechanism.
Alternatively, on a cross section in the extending direction of the guide rail 21, one of the first bracket 221 and the guide rail 21 has a T-shaped projection in cross section, and the other has a C-shaped groove in cross section, and the T-shaped projection is slidably provided on the C-shaped groove. In this embodiment, on the cross section of the extending direction of the circular arc-shaped guide rail, the cross section of the first bracket 221 is a C-shaped groove, the cross section of the circular arc-shaped guide rail is a T-shaped protrusion, and the "-" portion of the T-shaped protrusion is slidably disposed in the C-shaped groove, so that the first bracket 221 can slide along the extending direction of the circular arc-shaped guide rail without being separated from the circular arc-shaped guide rail. The I-shaped part of the T-shaped bulge extends out of the C-shaped groove and is rotatably connected to the second rotating arm 122 so as to adjust the angle and the position of the arc-shaped guide rail through the base 11 and the multi-degree-of-freedom mechanical arm 12.
Optionally, the operating assembly 22 further includes a first gear 2212, where the first gear 2212 is provided with a plurality of first teeth, and the guide rail 21 is provided with a plurality of second teeth 211, where a plurality of the plurality of first teeth are meshed with a plurality of the plurality of second teeth 211; the first driving member and/or the first gear 2212 is disposed on the first support 221, and an output end of the first driving member can drive the first gear 2212 to rotate so as to drive the first support 221 to slide along the guide rail 21. By controlling the position of the operating assembly 22 relative to the guide rail 21 in a geared manner, the following effects can be achieved: the instantaneous transmission ratio of the gear transmission is constant, and the pull-in stability of the disconnecting link operating mechanism is high; the transmission power range of the gear transmission is large, the bearing capacity is high, and the large-sized disconnecting link operating mechanism can be pulled and closed; the speed range of gear transmission is large, so that the gear transmission is suitable for different types of knife switches, and the too slow pulling and closing are avoided; the accuracy of the gearing is high, facilitating accurate adjustment of the position of the operating member 222 relative to the guide rail 21.
Illustratively, as shown in fig. 2 to 4, a first gear 2212 is rotatably provided in a C-shaped groove of the first bracket 221, and a plurality of second teeth 211 are equally spaced on a "-" portion of a T-shaped protrusion of the guide rail 21, and when the T-shaped protrusion is slidably provided in the C-shaped groove, a plurality of first teeth of the first gear 2212 are engaged on a plurality of second teeth 211. The first driving member (not shown) is fixed on the first bracket 221, and an output end of the first driving member is connected with the first gear 2212, and can drive the first gear 2212 to rotate, so that the first gear 2212 rolls along each second tooth 211, and the first bracket 221 is driven to slide along the circular arc guide rail, and the operating member 222 is driven to open or close the knife switch operating mechanism. Optionally, a roller 2211 is disposed at the junction of the C-shaped groove of the first bracket 221 and the T-shaped protrusion of the guide rail 21, and the first bracket 221 slides relative to the guide rail 21 through the roller 2211 to reduce wear, reduce sliding resistance, and improve durability of the first bracket 221 and the guide rail 21.
Alternatively, the telescopic rod 223 includes a first rod 2231 and a second rod 2232, the first rod 2231 is provided on the first bracket 221, the second rod 2232 is slidably provided on the first rod 2231 along a length direction of the first rod 2231, and the operating member 222 is mounted on the second rod 2232. Specifically, as shown in fig. 4, one end of the first rod 2231 is fixed on the first bracket 221, the second rod 2232 is slidably disposed on the other end of the first rod 2231 along the length direction, and a second driving member (not shown) is disposed on the operation assembly 22, and is communicatively connected to the control unit and is capable of driving the second rod 2232 to slide with respect to the first rod 2231 to adjust the distance of the operation member 222 from the circular arc-shaped guide rail. Also, the second driving member can lock the relative movement of the second rod 2232 and the first rod 2231 when the operating member 222 reaches the second preset position. The first rod 2231 and the second rod 2232 are both rigid rods to stably transmit the motion of the first bracket 221 to the operating member 222, so that the deviation of the motion track of the operating member 222 caused by the positioning deviation of the operating member 222 is avoided, and the knife switch is not opened by Faraday.
In this embodiment, the knife switch operating device is moved to the side of the knife switch, and the image acquisition module acquires the image information of the knife switch operating mechanism, the guide rail 21 and the operating member 222 to determine the positions and angles of the above components. Based on the image information, the image processing module determines the first relative position information of the guide rail 21 and the knife switch operating mechanism, the second relative position information of the guide rail 21 and the operating member 222, and the type of the knife switch, and sends the determined information to the determining module. The judging module retrieves initial motion data and execution data matched with the type data of the knife switch from the storage module, and sends a first instruction to the base 11, the multi-degree-of-freedom mechanical arm 12, the first driving member and the second driving member to adjust the guide rail 21 and the operating member 222 so that the guide rail 21 and the operating member 222 reach preset positions, and the operating member 222 is fixed on the knife switch operating mechanism. Finally, the judging module sends a second instruction to the first driving piece to drive the first bracket 221 to slide, and the first bracket 221 drives the operating piece 222 to open or close the knife switch operating mechanism through the telescopic rod 223. The disconnecting link operating device provided by the embodiment can be suitable for pulling and closing of disconnecting links of different types, and is wide in application. The first driving piece drives the operation piece 222 to operate the knife switch operation mechanism, so that the force and the speed of the operation piece 222 acting on the knife switch operation mechanism can be controlled stably, and the pulling-in range of the knife switch operation mechanism can be controlled accurately, so that the knife switch is pulled-in accurately, and potential safety hazards caused by too slow pulling-in or pulling-in failure of the knife switch are avoided. In addition, the disconnecting link operating device provided by the embodiment replaces manual operation, and personal safety is guaranteed.
Example two
The present embodiment provides a knife switch operating device, which is basically the same as the knife switch operating device in the first embodiment, and is mainly different in that the knife switch operating device further includes a signal receiver and a remote controller that are connected in a communication manner, the signal receiver is electrically connected with the control unit, and the signal receiver can remotely receive an operation instruction of the remote controller and transmit the operation instruction to the control unit. Specifically, the signal receiver is arranged on the control unit and is communicated with the control unit, the remote controller is held by an operator remotely, and when the operator operates the remote controller, the signal receiver can receive the operation instruction of the remote controller remotely and transmit the operation instruction to the control unit.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (8)
1. A knife switch operating device, comprising:
the adjusting unit (1) comprises a movable base (11) and a multi-degree-of-freedom mechanical arm (12) arranged on the base (11);
an operation unit (2) comprising a guide rail (21) and an operation assembly (22), wherein the guide rail (21) is arranged on the mechanical arm (12) with multiple degrees of freedom, the operation assembly (22) comprises a first bracket (221), a first driving piece, a telescopic rod (223) and an operation piece (222), the first bracket (221) is arranged on the guide rail (21) in a sliding manner, one end of the telescopic rod (223) is arranged on the first bracket (221), the other end of the telescopic rod is detachably provided with the operation piece (222), the length of the telescopic rod (223) is adjustable, the operation piece (222) is configured to be connected with a knife switch operation mechanism, and the first driving piece is used for driving the first bracket (221) to slide so as to enable the operation piece (222) to open or close the knife switch operation mechanism;
the positioning device comprises a positioning unit, wherein the positioning unit comprises an image acquisition module and an image processing module, the image acquisition module is used for acquiring image information of the disconnecting link operating mechanism, the guide rail (21) and the operating piece (222), and the image processing module is used for judging first relative position information of the guide rail (21) and the disconnecting link operating mechanism according to the image information and judging second relative position information of the guide rail (21) and the operating piece (222);
the control unit comprises a storage module and a judging module;
the storage module is used for storing the type data of the knife switch and storing initial action data and execution data matched with the type data;
the image processing module can identify the type data of the knife switch;
the judging module can call the initial action data and the execution data matched with the type data from the storage module according to the type data.
2. The knife switch operating device according to claim 1, characterized in that the guide rail (21) is a circular arc guide rail with an opening facing the operating member (222), the circular arc guide rail being arranged on the multi-degree of freedom mechanical arm (12) with an angle adjustable.
3. The knife switch operating device according to claim 1, characterized in that, on a cross section in the extending direction of the guide rail (21), one of the first bracket (221) and the guide rail (21) has a T-shaped projection in cross section, and the other has a C-shaped groove in cross section, the T-shaped projection being slidably disposed in the C-shaped groove.
4. The knife switch operating device according to claim 1, wherein,
the operation assembly (22) further comprises a first gear (2212), a plurality of first teeth are arranged on the first gear (2212), a plurality of second teeth (211) are arranged on the guide rail (21), and a plurality of first teeth are meshed with a plurality of second teeth (211);
the first driving piece and/or the first gear (2212) are arranged on the first support (221), and the output end of the first driving piece can drive the first gear (2212) to rotate so as to drive the first support (221) to slide along the guide rail (21).
5. The knife switch operating device according to claim 1, characterized in that the telescopic rod (223) includes a first rod (2231) and a second rod (2232), the first rod (2231) is provided on the first bracket (221), the second rod (2232) is provided on the first rod (2231) slidably along a length direction of the first rod (2231), and the operating member (222) is mounted on the second rod (2232).
6. The knife switch operating device according to claim 1, wherein the multi-degree-of-freedom mechanical arm (12) comprises a first rotating arm (121), a second rotating arm (122), a telescopic shaft (123) and a second support (124), the second support (124) is rotatably arranged on the base (11), the length of the telescopic shaft (123) is adjustable, the fixed end of the telescopic shaft (123) is arranged on the second support (124), one end of the first rotating arm (121) is rotatably connected with the movable end of the telescopic shaft (123), the other end of the first rotating arm (121) is rotatably connected with the second rotating arm (122), and the second rotating arm (122) is connected with the guide rail (21).
7. The knife switch operating device according to claim 1, wherein,
the judging module is further used for receiving the first relative position information and the second relative position information;
the judging module can send a first instruction according to the first relative position information, the second relative position information and the initial action data so that the guide rail (21) and the operating piece (222) reach preset positions, and the operating piece (222) is connected to the disconnecting link operating mechanism;
the judging module can also send a second instruction to the first driving piece to drive the first bracket (221) to slide so as to open or close the disconnecting link operating mechanism.
8. The knife switch operating device of claim 1, further comprising a signal receiver and a remote control communicatively connected, wherein the signal receiver is electrically connected to the control unit, and wherein the signal receiver is capable of remotely receiving an operating command from the remote control and transmitting the operating command to the control unit.
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| CN202110994255.4A CN113675029B (en) | 2021-08-27 | 2021-08-27 | Knife switch operating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110994255.4A CN113675029B (en) | 2021-08-27 | 2021-08-27 | Knife switch operating device |
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| CN113675029A CN113675029A (en) | 2021-11-19 |
| CN113675029B true CN113675029B (en) | 2023-10-20 |
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| CN113675029A (en) | 2021-11-19 |
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